version: 66.03
glider: 142
mission: 5
dive: 313
start: 6 9 108 7 30 23
data:
$ID,142
$MISSION,5
$DIVE,313
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,350
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,360
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,240
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51804
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-18835.979
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,220
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,475
$VBD_MAX,3964
$C_VBD,3071
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-2.876246
$PRESSURE_SLOPE,9.1518581e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.65
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,072307,6156.231,-2617.637,34,0.8,40,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-45.8
$GPS2,073003,6156.167,-2617.711,10,1.0,10,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-2600.200
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,109.5,15257,-14.9,-10.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.86,-194.7,0.0,0.0,0,169,0.00,0.00,-142.57,0.000,2,0.000,0.000,1432,2287,3461
$GC,172,-0.86,-194.7,3.3,-6.4,19,203,11.90,2.85,-10.95,0.000,4,0.248,0.051,2724,3712,3866
$GC,440,-0.79,-194.7,44.3,-13.5,65,448,0.12,2.75,0.00,0.000,6,0.166,0.033,2739,2294,3866
$GC,585,-0.75,-194.7,62.3,-12.6,90,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2294,3866
$GC,931,-0.71,-194.7,107.1,-12.8,151,939,0.15,2.83,0.00,0.000,4,0.184,0.043,2760,3703,3867
$GC,957,-0.71,-194.7,110.2,-11.8,155,965,0.00,2.80,0.00,0.000,6,0.000,0.034,2760,2267,3867
$GC,1303,-0.71,-194.7,146.7,-9.7,216,1311,0.00,2.88,0.00,0.000,4,0.000,0.044,2760,3709,3867
$GC,1335,-0.71,-194.7,149.7,-9.5,221,1342,0.00,2.78,0.00,0.000,6,0.000,0.033,2760,2285,3867
$GC,1681,-0.71,-194.7,180.2,-8.9,282,1688,0.00,2.85,0.00,0.000,4,0.000,0.044,2760,3712,3867
$GC,1718,-0.71,-194.7,183.5,-9.1,288,1726,0.00,2.75,0.00,0.000,6,0.000,0.033,2760,2297,3867
$GC,2063,-0.71,-194.7,217.0,-10.3,349,2070,0.00,2.83,0.00,0.000,4,0.000,0.044,2760,3706,3867
$GC,2089,-0.71,-194.7,219.6,-10.6,353,2097,0.00,2.72,0.00,0.000,6,0.000,0.033,2760,2303,3867
$GC,2434,-0.71,-194.7,255.0,-10.0,414,2442,0.00,2.83,0.00,0.000,4,0.000,0.046,2760,3712,3867
$GC,2455,-0.71,-194.7,257.0,-9.9,417,2462,0.00,2.72,0.00,0.000,6,0.000,0.032,2760,2312,3867
$GC,2799,-0.71,-194.7,291.3,-9.8,478,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2311,3867
$GC,3144,-0.71,-194.7,327.6,-9.9,539,3151,0.00,2.80,0.00,0.000,4,0.000,0.046,2760,3707,3867
$GC,3169,-0.71,-194.7,330.2,-10.2,543,3176,0.00,2.72,0.00,0.000,6,0.000,0.033,2760,2309,3867
$GC,3506,-0.71,-194.7,364.4,-10.8,591,3511,0.00,2.80,0.00,0.000,4,0.000,0.046,2760,3704,3867
$GC,3529,-0.71,-194.7,366.9,-10.8,592,3537,0.00,2.70,0.00,0.000,6,0.000,0.033,2760,2321,3867
$GC,3858,-0.71,-194.7,399.5,-9.8,623,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2319,3867
$GC,4183,-0.71,-194.7,433.4,-10.6,654,4187,0.00,2.78,0.00,0.000,4,0.000,0.047,2760,3708,3866
$GC,4204,-0.71,-194.7,435.8,-10.3,655,4211,0.00,2.70,0.00,0.000,6,0.000,0.034,2760,2327,3866
$GC,4531,-0.71,-194.7,468.1,-9.8,686,4536,0.00,2.78,0.00,0.000,4,0.000,0.047,2760,3703,3866
$GC,4554,-0.71,-194.7,470.6,-9.5,687,4561,0.00,2.67,0.00,0.000,6,0.000,0.034,2760,2332,3866
$GC,4881,-0.71,-194.7,499.9,-8.8,718,4885,0.00,2.78,0.00,0.000,4,0.000,0.048,2760,3706,3866
$GC,4900,-0.71,-194.7,501.6,-8.7,719,4905,0.00,2.67,0.00,0.000,6,0.000,0.035,2760,2339,3866
$GC,5229,-0.71,-194.7,531.4,-9.6,749,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2338,3866
$GC,5555,-0.71,-194.7,561.7,-9.4,780,5560,0.00,2.78,0.00,0.000,4,0.000,0.054,2760,3704,3866
$GC,5574,-0.71,-194.7,563.4,-8.9,781,5578,0.00,2.67,0.00,0.000,6,0.000,0.034,2760,2339,3865
$GC,5901,-0.71,-194.7,593.0,-9.2,811,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2337,3865
$GC,6210,-0.71,-194.7,621.6,-9.2,830,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2337,3865
$GC,6520,-0.71,-194.7,650.5,-9.5,845,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2337,3865
$GC,6828,-0.71,-194.7,681.1,-10.5,860,6833,0.00,2.85,0.00,0.000,4,0.000,0.061,2760,3700,3865
$GC,6850,-0.75,-194.7,683.6,-11.0,861,6855,0.00,2.70,0.00,0.000,6,0.000,0.043,2760,2353,3864
$GC,7172,-0.79,-194.7,720.6,-11.3,877,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2352,3865
$GC,7481,-0.83,-194.7,752.5,-11.0,892,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2352,3864
$GC,7792,-0.87,-194.7,784.4,-9.9,907,7794,0.17,0.00,0.00,0.000,6,0.061,0.000,2726,2352,3864
$GC,8100,-1.18,-194.7,810.9,-0.0,922,8106,0.30,3.10,0.00,0.000,4,0.067,0.097,2667,3699,3863
$STATE,8318,end dive,NO_VERTICAL_VELOCITY
$STATE,8318,begin apogee
$GC,8326,-0.21,0.0,811.0,0.0,932,8535,1.12,0.00,204.88,1.461,6,0.074,0.000,2872,2753,3071
$STATE,8535,end apogee,CONTROL_FINISHED_OK
$STATE,8535,begin climb
$GC,8538,0.86,194.7,810.9,0.0,942,8761,1.33,3.47,208.68,1.397,4,0.067,0.087,3101,1338,2277
$GC,8901,0.73,194.7,779.2,10.8,958,8907,0.15,3.05,0.00,0.000,6,0.122,0.063,3081,2738,2275
$GC,9224,0.67,220.5,749.5,9.1,974,9253,0.00,0.00,27.05,1.319,6,0.000,0.000,3081,2738,2171
$GC,9553,0.59,220.5,717.5,10.1,990,9557,0.15,2.40,0.00,0.000,4,0.113,0.066,3054,3900,2169
$GC,9602,0.64,257.5,712.7,8.7,992,9646,0.00,2.33,38.25,1.350,6,0.000,0.044,3055,2741,2021
$GC,9965,0.71,315.3,683.4,8.0,1010,10033,0.00,3.03,59.90,1.358,4,0.000,0.061,3054,1336,1784
$GC,10073,0.85,379.7,675.0,7.8,1014,10150,0.25,2.90,69.10,1.334,6,0.045,0.037,3105,2761,1521
$GC,10478,0.81,379.7,625.9,12.5,1034,10479,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2761,1515
$GC,10790,0.81,379.7,583.4,13.5,1054,10791,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2761,1513
$GC,11108,0.81,379.7,541.8,13.2,1084,11113,0.00,2.88,0.00,0.000,4,0.000,0.047,3105,1336,1512
$GC,11141,0.81,379.7,537.3,13.3,1086,11149,0.00,2.75,0.00,0.000,6,0.000,0.031,3105,2750,1511
$GC,11468,0.81,379.7,496.9,12.0,1117,11472,0.00,2.28,0.00,0.000,4,0.000,0.051,3105,3896,1511
$GC,11499,0.81,379.7,492.4,13.0,1119,11507,0.00,2.25,0.00,0.000,6,0.000,0.031,3105,2725,1510
$GC,11827,0.81,379.7,456.7,10.5,1150,11831,0.00,2.75,0.00,0.000,4,0.000,0.048,3105,1346,1511
$GC,11859,0.81,379.7,452.8,11.2,1152,11867,0.00,2.72,0.00,0.000,6,0.000,0.031,3105,2751,1510
$GC,12187,0.81,379.7,417.6,10.4,1183,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2751,1510
$GC,12512,0.81,379.7,383.4,10.7,1214,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2751,1510
$GC,12831,0.81,379.7,349.2,10.7,1244,12839,0.00,2.83,0.00,0.000,4,0.000,0.045,3105,1344,1510
$GC,12863,0.81,379.7,345.5,11.2,1249,12870,0.00,2.72,0.00,0.000,6,0.000,0.031,3105,2746,1509
$GC,13208,0.81,379.7,305.3,11.9,1310,13215,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2746,1509
$GC,13553,0.81,379.7,265.1,11.7,1371,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2746,1509
$GC,13896,0.81,379.7,227.5,10.7,1432,13903,0.00,2.80,0.00,0.000,4,0.000,0.044,3105,1346,1509
$GC,13939,0.81,379.7,222.5,11.7,1439,13946,0.00,2.70,0.00,0.000,6,0.000,0.031,3105,2736,1509
$GC,14283,0.81,379.7,182.3,11.5,1500,14291,0.00,2.28,0.00,0.000,4,0.000,0.048,3105,3888,1509
$GC,14319,0.81,379.7,178.0,11.9,1506,14327,0.00,2.25,0.00,0.000,6,0.000,0.031,3105,2716,1509
$GC,14665,0.81,379.7,138.9,11.3,1567,14672,0.00,2.72,0.00,0.000,4,0.000,0.046,3105,1343,1508
$GC,14707,0.81,379.7,133.8,12.1,1574,14714,0.00,2.67,0.00,0.000,6,0.000,0.031,3105,2725,1509
$GC,15050,0.81,379.7,94.3,10.9,1635,15056,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2725,1509
$GC,15393,0.81,384.1,58.0,9.8,1696,15400,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2725,1508
$GC,15736,0.83,397.0,22.3,9.6,1757,15758,0.00,0.00,16.00,0.873,6,0.000,0.000,3105,2725,1451
$GC,15894,0.84,405.3,6.3,9.7,1784,15909,0.00,2.85,9.82,0.833,4,0.000,0.045,3105,1346,1418
$STATE,15936,end climb,SURFACE_DEPTH_REACHED
$STATE,15936,begin surface coast
$FINISH,0.1,1.003099
$STATE,15960,end surface coast,CONTROL_FINISHED_OK
$STATE,15960,begin surface
$SM_CCo,16041,0.00,0.000,0,0,1413,406.46
$SM_GC,0.64,8.50,0.00,0.00,0.044,0.000,0.000,1433,2329,1413,-6.80,0.82,406.46
$IRIDIUM_FIX,6130.75,-2625.73,030997,030300
$TT8_MAMPS,0.026845
$HUMID,1851
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,14.80
$XPDR_PINGS,898
$24V_AH,19.1,97.903
$10V_AH,9.8,66.147
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,24.150,135.675,633.675,0.000,0.000,31.333,30.018,217.427,224.500,0.000,0.000,12.052,3614.898,8085.892,841.412,3271.313,629.377,0.000,2316.231,0.000,3260.758,0.000,0.465
$DEVICE_MAMPS,247.741,96.642,1461.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1260.342,1321.750,703.448,1677.506,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129737,1795
$CAP_FILE_SIZE,157422,0
$CFSIZE,260165632,226983936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.105,316.4,1
$GPS,090608,115901,6156.524,-2614.039,35,1.6,40,-18.8